/*
 * @Author: soon.liao
 * @Date: 2024-02-05 21:44:50
 * @LastEditors: soon.liao
 * @LastEditTime: 2024-02-07 07:43:51
 * @FilePath: \my-car\main\Mecanum.h
 * @Description: NA
 * NA
 * Copyright (c) 2024 by soon.liao  , All Rights Reserved.
 */
#ifndef __MECANUM_H__
#define __MECANUM_H__

typedef enum
{
    DIRE_FOREWARD = 0,    // 前进
    DIRE_RETREAT,         // 后退
    DIRE_TRAN_RIGHT,      // 右平移
    DIRE_TRAN_LEFT,       // 左平移
    DIRE_DEXT_RIGHT,      // 右旋
    DIRE_DEXT_LEFT,       // 左旋
    DIRE_FRON_RIGHT,      // 右前方
    DIRE_FRON_LEFT,       // 左前方
    DIRE_REAR_RIGHT,      // 右后方
    DIRE_REAR_LEFT,       // 左后方
    DIRE_FRON_DEXT_RIGHT, // 绕前轮轴右旋
    DIRE_FRON_DEXT_LEFT,  // 绕前轮轴左旋
    DIRE_BACK_DEXT_RIGHT, // 绕后轮轴右旋
    DIRE_BACK_DEXT_LEFT,  // 绕后轮轴左旋
    DIRE_BRAKE,           // 刹车
    DIRE_STANDBY,         // 待机
} MecanumDirection;

// MecanumDirection curDirection = DIRE_FOREWARD;

void mecanum_control_init(void);
void mecanum_control_direction(MecanumDirection direction);

#endif
